Control device for omnidirectional running of Mecanum wheels

A control device, omnidirectional technology, applied in the field of robots, can solve problems such as inability to adjust, difficult to run, and difficult to stabilize the robot

Inactive Publication Date: 2018-03-16
DONGGUAN HANDY INTELLIGENT ROBOT TECH CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] However, the current robots all use electromagnetic wires to guide the operation of the robot. It is difficult to achieve omnidirectional operation, and it is also difficult to ensure the stability of the robot operation. Moreover, most of the current robots use traditional PID controllers. Traditional PID control The controller includes three parameters: propo...

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  • Control device for omnidirectional running of Mecanum wheels

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Embodiment Construction

[0015] In order to facilitate the understanding of those skilled in the art, the present invention will be further described below in conjunction with the embodiments and accompanying drawings, and the contents mentioned in the embodiments are not intended to limit the present invention. The present invention will be described in detail below in conjunction with the accompanying drawings.

[0016] The invention provides a control device for the omnidirectional operation of mecanum wheels, which includes a mecanum wheel omnidirectional mobile robot body and a control module, and the mecanum wheel omnidirectional mobile robot body includes a drive motor, a plurality of mecanum wheel Mecanum wheels and a remote control device, the drive motors are respectively connected to a plurality of Mecanum wheels, the control module includes a data acquisition module, a data analysis module and an operation controller, the data acquisition module includes a plurality of sensors, the The dat...

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Abstract

The invention relates to the technical field of robot, in particular to a control device for omnidirectional running of Mecanum wheels. The control device includes a Mecanum wheel robot body and a control module. The control module includes a data acquisition module, a data analysis module and a running controller. The data acquisition module includes a plurality of sensors. The data analysis module includes a PID regulator and a fuzzy inference module. The fuzzy inference module is used for fuzzifying the signal of the data acquisition module and outputting fuzzy quantity. The PID regulator defuzzifies the fuzzy quantity and transmits the fuzzy quantity to the running controller. The running controller makes a drive motor on the Mecanum wheel omnidirectional mobile robot body move. In theinvention, a fuzzy PID control technology is adopted to combine a fuzzy algorithm with a traditional PID controller. Based on the advantages of simple control, good performance and high reliability of the conventional PID controller, the values of the parameters of the PID controller are adjusted, and thus, the applicability and flexibility of the controller are improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control device for omnidirectional running of mecanum wheels. Background technique [0002] In recent years, wheeled robots have developed rapidly. When the robot works in a scene with a small space and many obstacles, the robot needs to be able to move in all directions. The so-called all-round movement means that the mobile platform has three degrees of freedom in the plane of its movement, that is, while keeping the posture of the car body unchanged, it can realize movements such as front and rear, left and right, and in-situ rotation, so as to achieve the goal of moving in the same direction. Motion in any direction within the plane. When the robot needs to complete mobile tasks in a small space and achieve high-precision positioning, the omnidirectional mobile robot can play its own characteristics of omnidirectional movement, shuttle in limited application scenarios, and ...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0276
Inventor 胡建军华铁丹
Owner DONGGUAN HANDY INTELLIGENT ROBOT TECH CO LTD
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